init after task creation moved to task functionality
This commit is contained in:
parent
9465c8f2b2
commit
02be87aa03
@ -1,138 +1,143 @@
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#include "PeriodicTask.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../tasks/ExecutableObjectIF.h"
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PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc) :
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started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
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deadlineMissedFunc)
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{
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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BaseType_t status = xTaskCreate(taskEntryPoint, name,
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stackSize, this, setPriority, &handle);
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if(status != pdPASS){
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sif::debug << "PeriodicTask Insufficient heap memory remaining. "
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"Status: " << status << std::endl;
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}
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}
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PeriodicTask::~PeriodicTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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}
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void PeriodicTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as PeriodicTask. The Task object is
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// global, so it is found from any place.
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PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->handle
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<< " returned from taskFunctionality." << std::endl;
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}
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ReturnValue_t PeriodicTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicTask::taskFunctionality() {
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TickType_t xLastWakeTime;
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const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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for (auto const& object: objectList) {
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object->performOperation();
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}
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checkMissedDeadline(xLastWakeTime, xPeriod);
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vTaskDelayUntil(&xLastWakeTime, xPeriod);
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}
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}
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ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == nullptr) {
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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"it implement ExecutableObjectIF" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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newObject->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PeriodicTask::getPeriodMs() const {
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return period * 1000;
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}
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void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Time to wake has not overflown.
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if(timeToWake > xLastWakeTime) {
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/* If the current time has overflown exclusively or the current
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* tick count is simply larger than the time to wake, a deadline was
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* missed */
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if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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/* Time to wake has overflown. A deadline was missed if the current time
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* is larger than the time to wake */
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else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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TaskHandle_t PeriodicTask::getTaskHandle() {
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return handle;
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}
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void PeriodicTask::handleMissedDeadline() {
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#ifdef DEBUG
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sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
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" missed deadline!\n" << std::flush;
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#endif
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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#include "PeriodicTask.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../tasks/ExecutableObjectIF.h"
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PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc) :
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started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
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deadlineMissedFunc)
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{
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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BaseType_t status = xTaskCreate(taskEntryPoint, name,
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stackSize, this, setPriority, &handle);
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if(status != pdPASS){
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sif::debug << "PeriodicTask Insufficient heap memory remaining. "
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"Status: " << status << std::endl;
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}
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}
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PeriodicTask::~PeriodicTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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}
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void PeriodicTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as PeriodicTask. The Task object is
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// global, so it is found from any place.
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PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->handle
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<< " returned from taskFunctionality." << std::endl;
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}
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ReturnValue_t PeriodicTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicTask::taskFunctionality() {
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TickType_t xLastWakeTime;
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const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
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for (auto const& object: objectList) {
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object->initializeAfterTaskCreation();
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}
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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for (auto const& object: objectList) {
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object->performOperation();
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}
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checkMissedDeadline(xLastWakeTime, xPeriod);
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vTaskDelayUntil(&xLastWakeTime, xPeriod);
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}
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}
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ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == nullptr) {
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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"it implement ExecutableObjectIF" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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newObject->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PeriodicTask::getPeriodMs() const {
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return period * 1000;
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}
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void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Time to wake has not overflown.
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if(timeToWake > xLastWakeTime) {
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/* If the current time has overflown exclusively or the current
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* tick count is simply larger than the time to wake, a deadline was
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* missed */
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if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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/* Time to wake has overflown. A deadline was missed if the current time
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* is larger than the time to wake */
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else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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TaskHandle_t PeriodicTask::getTaskHandle() {
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return handle;
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}
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void PeriodicTask::handleMissedDeadline() {
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#ifdef DEBUG
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sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
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" missed deadline!\n" << std::flush;
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#endif
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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@ -1,128 +1,128 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include "FreeRTOSTaskIF.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* TODO: why does this need to be called before vTaskStartScheduler?
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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/**
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* @brief The method to start the task.
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* @details The method starts the task with the respective system call.
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* Entry point is the taskEntryPoint method described below.
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask() override;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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TaskHandle_t getTaskHandle() override;
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protected:
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bool started;
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TaskHandle_t handle;
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//! Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief The period of the task.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed so each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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void checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval);
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void handleMissedDeadline();
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};
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#endif /* PERIODICTASK_H_ */
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#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* TODO: why does this need to be called before vTaskStartScheduler?
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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/**
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* @brief The method to start the task.
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* @details The method starts the task with the respective system call.
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* Entry point is the taskEntryPoint method described below.
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask() override;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return
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||||
* -@c RETURN_OK on success
|
||||
* -@c RETURN_FAILED if the object could not be added.
|
||||
*/
|
||||
ReturnValue_t addComponent(object_id_t object) override;
|
||||
|
||||
uint32_t getPeriodMs() const override;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||
|
||||
TaskHandle_t getTaskHandle() override;
|
||||
protected:
|
||||
bool started;
|
||||
TaskHandle_t handle;
|
||||
|
||||
//! Typedef for the List of objects.
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
||||
/**
|
||||
* @brief This attribute holds a list of objects to be executed.
|
||||
*/
|
||||
ObjectList objectList;
|
||||
/**
|
||||
* @brief The period of the task.
|
||||
* @details
|
||||
* The period determines the frequency of the task's execution.
|
||||
* It is expressed in clock ticks.
|
||||
*/
|
||||
TaskPeriod period;
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details
|
||||
* This pointer stores the function that is executed if the task's deadline
|
||||
* is missed so each may react individually on a timing failure.
|
||||
* The pointer may be NULL, then nothing happens on missing the deadline.
|
||||
* The deadline is equal to the next execution of the periodic task.
|
||||
*/
|
||||
void (*deadlineMissedFunc)(void);
|
||||
/**
|
||||
* @brief This is the function executed in the new task's context.
|
||||
* @details
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context. The taskFunctionality method is
|
||||
* called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
static void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called.
|
||||
* Afterwards the checkAndRestartPeriod system call blocks the task until
|
||||
* the next period.
|
||||
* On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
void checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval);
|
||||
void handleMissedDeadline();
|
||||
};
|
||||
|
||||
#endif /* PERIODICTASK_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user